1. Steady-State Errors System & Control Engineering Lab.
School of Mechanical Engineering

2. CHAPTER OBJECTIVES
How to find the steady-state error for a unity feedback system
How to specify a system’s steady-state error performance
How to find the steady-state error for disturbance inputs
How to find the steady-state error for nonunity feedback systems

3. DEFINITION AND TEST INPUTS

4. Evaluating Steady-State Errors

5. Evaluating Steady-State Errors

6. Sources of Steady-State Error

7. Sources of Steady-State Error
Unity feedback system

8. Steady-State Error for Unity Feedback Systems
Final value theorem

9. Steady-State Errors
The closed-loop transfer function is
The transfer function between the error signal and input signal is

10. Steady-State Error for Unity Feedback Systems
The steady-state error is

11. Steady-State Error for Unity Feedback Systems: Step Input

12. Steady-State Error for Unity Feedback Systems: Ramp Input

13. Steady-State Error for Unity Feedback Systems: Parabolic Input

14. Static Error Constants

15. Static Error Constants

16. Classification of Control Systems
Open-loop transfer function
Type 0,1,2…., if N=0,1,2……

17. Classification of Control Systems
Open-loop transfer function

18. System Type

19. Steady-State Error for Unity Feedback Systems: Ex

20. Steady-State Error for Unity Feedback Systems: Ex

21. Steady-State Error for Unity Feedback Systems: Ex

22. Steady-State Error for Unity Feedback Systems: Ex

23. Steady-State Error for Unity Feedback Systems: Ex

24. Steady-State Error for Unity Feedback Systems: Ex

25. Steady-State Error for Unity Feedback Systems: Ex

26. Steady-State Error for Unity Feedback Systems: Ex

27. Steady-State Error for Unity Feedback Systems: Ex

28. Steady-State Error for Disturbances

29. Steady-State Error for Disturbances

30. Steady-State Error for Disturbances

31. Steady-State Error for Disturbances

32. Steady-State Error for Nonunity Feedback Systems

33. Steady-State Error for Nonunity Feedback Systems

34. Steady-State Error for Nonunity Feedback Systems

35. Steady-State Error for Nonunity Feedback Systems

36. Sensiivity